Modeling of serial link robots covered with a thin flexible film
Modeling of serial link robots covered with a thin flexible film
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DOI：
10.1109/robio49542.2019.8961429
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发表时间：
2019-12
期刊：
影响因子：
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通讯作者：
M. Shibata;N. Sakagami
中科院分区：
文献类型：
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作者：
M. Shibata;N. Sakagami
这份手稿描述了一个串联链接机器人覆盖一个薄的，灵活的薄膜建模。通过用塑料薄膜覆盖串联链接机器人，机器人可以清洁地操纵食品和衣服等日常物品。然而，覆盖膜的串联链节的机械性能尚未阐明。在这篇手稿中，我们讨论了基本的机械特性，无论是电影和链接应滑动或不。我们假设薄膜为梁模型，并从材料力学的角度分析其静态力学特性。结果发现，机器人可以旋转，即使在一个小的直流电机填充适当体积的绝缘流体。我们通过机器人包装方法制造的原型实验分析的有效性进行评估。
This manuscript describes the modeling of a serial link robot covering with a thin, flexible film. By covering a serial link robot with a plastic film, the robot can manipulate daily goods such as foods and clothes cleanly. However, the mechanical properties of the serial links covering the film have not been clarified. In this manuscript, we discuss the fundamental mechanical characteristics, whether the film and the link should slide or not. We assume that the film is modeled as a beam, and analyze the static mechanical characteristics from the viewpoint of material mechanics. As a result, we find the robot can rotate even in a small DC motor by filling an appropriate volume of an insulating fluid. We evaluate the validity of the analyses experimentally through the prototype fabricated by the robot packaging method.